version: 66.08
glider: 502
mission: 3
dive: 530
start: 1 6 111 6 27 24
data:
$ID,502
$MISSION,3
$DIVE,530
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,623.29712
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30807.996
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,060111,061707,-7628.130,17744.039,38,1.3,38,121.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.8
$GPS2,060111,062658,-7628.208,17744.178,11,2.1,30,121.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,185.8,200710,-17.5,-10.000
$D_GRID,375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-86.88,0.000,2,0.000,0.000,430,2659,3347,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.3,-1.7,13,132,8.82,1.80,-5.70,0.000,4,0.192,0.071,2799,3754,3559,0,0,0,0,0,0
$GC,151,-0.76,-146.0,12.8,-21.8,19,159,0.00,1.77,0.00,0.000,6,0.000,0.041,2798,2623,3561,0,0,0,0,0,0
$GC,290,-0.76,-146.0,35.6,-15.8,44,298,0.00,1.90,0.00,0.000,4,0.000,0.060,2790,3753,3563,0,0,0,0,0,0
$GC,317,-0.76,-146.0,40.6,-17.4,48,325,0.00,1.75,0.00,0.000,6,0.000,0.041,2790,2660,3563,0,0,0,0,0,0
$GC,459,-0.76,-146.0,64.7,-17.6,73,466,0.00,1.80,0.00,0.000,4,0.000,0.060,2782,3753,3563,0,0,0,0,0,0
$GC,484,-0.76,-146.0,69.5,-17.2,77,491,0.12,1.75,0.00,0.000,6,0.158,0.041,2815,2659,3562,0,0,0,0,0,0
$GC,626,-0.76,-146.0,91.5,-14.6,102,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2658,3563,0,0,0,0,0,0
$GC,771,-0.76,-146.0,113.9,-15.8,120,774,0.00,1.80,0.00,0.000,4,0.000,0.060,2808,3753,3563,0,0,0,0,0,0
$GC,805,-0.76,-146.0,119.8,-17.7,123,809,0.00,1.70,0.00,0.000,6,0.000,0.041,2808,2663,3563,0,0,0,0,0,0
$GC,947,-0.76,-146.0,142.2,-15.6,136,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2661,3563,0,0,0,0,0,0
$GC,1074,-0.76,-146.0,162.5,-15.9,148,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2661,3563,0,0,0,0,0,0
$GC,1201,-0.76,-146.0,182.4,-15.2,160,1204,0.00,1.80,0.00,0.000,4,0.000,0.060,2799,3757,3563,0,0,0,0,0,0
$GC,1249,-0.76,-146.0,190.9,-16.1,164,1257,0.00,1.73,0.00,0.000,6,0.000,0.041,2800,2676,3564,0,0,0,0,0,0
$GC,1387,-0.76,-146.0,211.6,-15.4,177,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2676,3563,0,0,0,0,0,0
$GC,1522,-0.76,-146.0,233.2,-15.6,190,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2675,3564,0,0,0,0,0,0
$GC,1648,-0.76,-146.0,253.7,-15.7,202,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2675,3564,0,0,0,0,0,0
$GC,1841,-0.76,-146.0,283.9,-15.8,220,1844,0.00,1.77,0.00,0.000,4,0.000,0.060,2791,3757,3564,0,0,0,0,0,0
$GC,1887,-0.76,-146.0,291.6,-16.7,224,1891,0.00,1.67,0.00,0.000,6,0.000,0.041,2791,2678,3563,0,0,0,0,0,0
$GC,2091,-0.76,-146.0,323.5,-15.3,243,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2677,3563,0,0,0,0,0,0
$GC,2282,-0.76,-146.0,353.3,-15.4,261,2285,0.00,1.77,0.00,0.000,4,0.000,0.062,2783,3756,3563,0,0,0,0,0,0
$GC,2309,-0.76,-146.0,358.1,-16.5,263,2317,0.08,1.70,0.00,0.000,6,0.138,0.041,2809,2687,3563,0,0,0,0,0,0
$STATE,2377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2378,begin apogee
$GC,2384,-0.27,0.0,368.2,13.8,270,2522,0.50,0.00,130.90,1.035,4,0.123,0.000,2972,2490,2960,0,0,0,0,0,0
$STATE,2523,end apogee,CONTROL_FINISHED_OK
$STATE,2523,begin climb
$GC,2525,0.76,146.0,376.3,0.0,282,2686,1.10,2.53,149.00,0.956,4,0.080,0.047,3308,1102,2365,0,0,0,0,0,0
$GC,2811,0.76,146.0,352.2,11.1,307,2815,0.00,2.50,0.00,0.000,6,0.000,0.050,3308,2487,2354,0,0,0,0,0,0
$GC,3010,0.76,146.0,330.1,11.0,325,3014,0.00,2.33,0.00,0.000,4,0.000,0.047,3315,1092,2351,0,0,0,0,0,0
$GC,3141,0.76,146.0,315.6,10.2,336,3149,0.00,2.35,0.00,0.000,6,0.000,0.051,3315,2527,2349,0,0,0,0,0,0
$GC,3340,0.76,146.0,293.7,11.1,355,3344,0.00,2.00,0.00,0.000,4,0.000,0.059,3315,3768,2348,0,0,0,0,0,0
$GC,3434,0.76,146.0,280.8,14.4,363,3442,0.00,1.95,0.00,0.000,6,0.000,0.039,3324,2537,2347,0,0,0,0,0,0
$GC,3633,0.76,146.0,256.5,12.0,382,3637,0.00,2.00,0.00,0.000,4,0.000,0.058,3325,3767,2347,0,0,0,0,0,0
$GC,3672,0.76,146.0,251.2,13.5,385,3679,0.00,1.92,0.00,0.000,6,0.000,0.038,3334,2525,2346,0,0,0,0,0,0
$GC,3873,0.76,146.0,227.2,12.2,404,3876,0.00,2.03,0.00,0.000,4,0.000,0.058,3334,3766,2346,0,0,0,0,0,0
$GC,3908,0.76,146.0,222.3,14.4,407,3912,0.12,1.90,0.00,0.000,6,0.163,0.038,3310,2543,2346,0,0,0,0,0,0
$GC,4050,0.76,146.0,206.7,10.5,420,4054,0.00,2.00,0.00,0.000,4,0.000,0.058,3309,3767,2345,0,0,0,0,0,0
$GC,4087,0.76,146.0,201.7,12.0,423,4098,0.00,1.95,0.00,0.000,6,0.000,0.039,3318,2537,2345,0,0,0,0,0,0
$GC,4225,0.76,146.0,186.5,11.5,436,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2536,2345,0,0,0,0,0,0
$GC,4361,0.76,146.0,170.9,11.3,449,4364,0.00,2.00,0.00,0.000,4,0.000,0.059,3318,3761,2345,0,0,0,0,0,0
$GC,4418,0.76,146.0,163.1,14.9,454,4422,0.00,1.88,0.00,0.000,6,0.000,0.039,3327,2551,2344,0,0,0,0,0,0
$GC,4559,0.76,146.0,145.3,12.3,467,4563,0.00,2.00,0.00,0.000,4,0.000,0.059,3327,3768,2344,0,0,0,0,0,0
$GC,4597,0.76,146.0,139.7,14.2,470,4607,0.00,1.92,0.00,0.000,6,0.000,0.038,3337,2559,2344,0,0,0,0,0,0
$GC,4736,0.76,146.0,123.4,12.0,483,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2557,2344,0,0,0,0,0,0
$GC,4871,0.76,146.0,107.6,11.4,496,4875,0.00,1.98,0.00,0.000,4,0.000,0.057,3337,3768,2344,0,0,0,0,0,0
$GC,4920,0.76,146.0,100.9,13.4,500,4929,0.10,1.90,0.00,0.000,6,0.132,0.040,3313,2575,2343,0,0,0,0,0,0
$GC,5056,0.76,146.0,87.1,10.3,524,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2574,2343,0,0,0,0,0,0
$GC,5197,0.76,146.0,72.3,11.4,549,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2574,2343,0,0,0,0,0,0
$GC,5333,0.76,146.0,57.8,10.8,574,5341,0.00,1.98,0.00,0.000,4,0.000,0.059,3312,3756,2344,0,0,0,0,0,0
$GC,5377,0.76,146.0,52.8,12.9,581,5384,0.00,1.85,0.00,0.000,6,0.000,0.040,3320,2571,2343,0,0,0,0,0,0
$GC,5515,0.76,146.0,36.6,11.4,606,5524,0.00,2.00,0.00,0.000,4,0.000,0.059,3320,3764,2342,0,0,0,0,0,0
$GC,5548,0.76,146.0,32.4,13.6,611,5556,0.00,1.85,0.00,0.000,6,0.000,0.038,3329,2575,2342,0,0,0,0,0,0
$GC,5689,0.76,146.0,15.2,12.1,636,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2574,2343,0,0,0,0,0,0
$FREEZE,8.32,-0.406,-1.893,2,2,0
$FREEZE,7.64,-0.393,-1.892,2,2,0
$FREEZE,6.98,-0.363,-1.892,2,2,0
$FREEZE,6.16,-0.328,-1.891,2,2,0
$FREEZE,5.61,-0.297,-1.890,2,2,0
$FREEZE,4.69,-0.267,-1.890,2,2,0
$FREEZE,4.07,-0.268,-1.889,2,2,0
$FREEZE,3.33,-0.265,-1.889,2,2,0
$FREEZE,2.67,-0.270,-1.889,2,2,0
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5788,begin surface coast
$FREEZE,1.75,-0.275,-1.888,2,2,0
$FREEZE,1.18,-0.294,-1.198,2,2,0
$FREEZE,1.19,-0.363,-0.591,2,2,0
$FREEZE,1.16,-0.508,-1.901,2,2,0
$FINISH,1.2,1.027823
$STATE,5814,end surface coast,CONTROL_FINISHED_OK
$STATE,5814,begin surface
$SM_CCo,5831,259.62,0.099,0,0,419,623.30
$SM_GC,1.87,0.00,0.00,259.62,0.000,0.000,0.099,416,2663,419,-8.28,0.37,623.30
$IRIDIUM_FIX,-7545.40,17733.02,060111,060642
$TT8_MAMPS,0.028462
$HUMID,51.53
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,350.0,32.3
$24V_AH,20.2,77.375
$10V_AH,9.6,53.292
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.500,69.950,279.900,259.625,0.000,92.328,225.321,0.000,2.000,0.000,32.019,1669.720,2169.639,670.414,1953.378,225.614,0.000,1355.358,0.000,1093.618,0.000,13.491,0.000
$DEVICE_MAMPS,192.015,92.565,1035.045,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.084,858.288,944.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258100
$DATA_FILE_SIZE,47060,657
$CAP_FILE_SIZE,90312,0
$CFSIZE,260165632,223723520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,161.6,1
$GPS,060111,081006,-7628.294,17742.414,15,1.9,31,121.2